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[ur_gazebo] Add possibility to specify transmission_interface and position-controllers #685

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Sep 9, 2024
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[ur_gazebo] Add possibility to specify transmission_interface and position-controllers #685

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20 changes: 20 additions & 0 deletions ur_gazebo/config/ur10_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,3 +34,23 @@ eff_joint_traj_controller:
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
wrist_1_joint: {trajectory: 0.1, goal: 0.1}
wrist_2_joint: {trajectory: 0.1, goal: 0.1}
wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joints: *robot_joints
20 changes: 20 additions & 0 deletions ur_gazebo/config/ur10e_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,3 +34,23 @@ eff_joint_traj_controller:
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
wrist_1_joint: {trajectory: 0.1, goal: 0.1}
wrist_2_joint: {trajectory: 0.1, goal: 0.1}
wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joints: *robot_joints
20 changes: 20 additions & 0 deletions ur_gazebo/config/ur16e_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,3 +34,23 @@ eff_joint_traj_controller:
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
wrist_1_joint: {trajectory: 0.1, goal: 0.1}
wrist_2_joint: {trajectory: 0.1, goal: 0.1}
wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joints: *robot_joints
20 changes: 20 additions & 0 deletions ur_gazebo/config/ur20_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,3 +34,23 @@ eff_joint_traj_controller:
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
wrist_1_joint: {trajectory: 0.1, goal: 0.1}
wrist_2_joint: {trajectory: 0.1, goal: 0.1}
wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joints: *robot_joints
20 changes: 20 additions & 0 deletions ur_gazebo/config/ur30_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,3 +34,23 @@ eff_joint_traj_controller:
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
wrist_1_joint: {trajectory: 0.1, goal: 0.1}
wrist_2_joint: {trajectory: 0.1, goal: 0.1}
wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joints: *robot_joints
20 changes: 20 additions & 0 deletions ur_gazebo/config/ur3_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,3 +34,23 @@ eff_joint_traj_controller:
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
wrist_1_joint: {trajectory: 0.1, goal: 0.1}
wrist_2_joint: {trajectory: 0.1, goal: 0.1}
wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joints: *robot_joints
20 changes: 20 additions & 0 deletions ur_gazebo/config/ur3e_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,3 +34,23 @@ eff_joint_traj_controller:
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
wrist_1_joint: {trajectory: 0.1, goal: 0.1}
wrist_2_joint: {trajectory: 0.1, goal: 0.1}
wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joints: *robot_joints
20 changes: 20 additions & 0 deletions ur_gazebo/config/ur5_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,3 +34,23 @@ eff_joint_traj_controller:
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
wrist_1_joint: {trajectory: 0.1, goal: 0.1}
wrist_2_joint: {trajectory: 0.1, goal: 0.1}
wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joints: *robot_joints
20 changes: 20 additions & 0 deletions ur_gazebo/config/ur5e_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,3 +34,23 @@ eff_joint_traj_controller:
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
wrist_1_joint: {trajectory: 0.1, goal: 0.1}
wrist_2_joint: {trajectory: 0.1, goal: 0.1}
wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joints: *robot_joints
2 changes: 2 additions & 0 deletions ur_gazebo/launch/ur10_bringup.launch
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Expand Up @@ -36,6 +36,7 @@
<arg name="kinematics_params" default="$(find ur_description)/config/ur10/default_kinematics.yaml"/>
<arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
<arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>

<!-- Controller configuration -->
<arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
Expand All @@ -56,6 +57,7 @@
<arg name="kinematics_params" value="$(arg kinematics_params)"/>
<arg name="physical_params" value="$(arg physical_params)"/>
<arg name="visual_params" value="$(arg visual_params)"/>
<arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
</include>

<!-- Robot state publisher -->
Expand Down
2 changes: 2 additions & 0 deletions ur_gazebo/launch/ur10e_bringup.launch
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Expand Up @@ -36,6 +36,7 @@
<arg name="kinematics_params" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
<arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
<arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>

<!-- Controller configuration -->
<arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
Expand All @@ -56,6 +57,7 @@
<arg name="kinematics_params" value="$(arg kinematics_params)"/>
<arg name="physical_params" value="$(arg physical_params)"/>
<arg name="visual_params" value="$(arg visual_params)"/>
<arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
</include>

<!-- Robot state publisher -->
Expand Down
2 changes: 2 additions & 0 deletions ur_gazebo/launch/ur16e_bringup.launch
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Expand Up @@ -36,6 +36,7 @@
<arg name="kinematics_params" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
<arg name="physical_params" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
<arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>

<!-- Controller configuration -->
<arg name="controller_config_file" default="$(find ur_gazebo)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
Expand All @@ -56,6 +57,7 @@
<arg name="kinematics_params" value="$(arg kinematics_params)"/>
<arg name="physical_params" value="$(arg physical_params)"/>
<arg name="visual_params" value="$(arg visual_params)"/>
<arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
</include>

<!-- Robot state publisher -->
Expand Down
2 changes: 2 additions & 0 deletions ur_gazebo/launch/ur20_bringup.launch
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Expand Up @@ -36,6 +36,7 @@
<arg name="kinematics_params" default="$(find ur_description)/config/ur20/default_kinematics.yaml"/>
<arg name="physical_params" default="$(find ur_description)/config/ur20/physical_parameters.yaml"/>
<arg name="visual_params" default="$(find ur_description)/config/ur20/visual_parameters.yaml"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>

<!-- Controller configuration -->
<arg name="controller_config_file" default="$(find ur_gazebo)/config/ur20_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
Expand All @@ -56,6 +57,7 @@
<arg name="kinematics_params" value="$(arg kinematics_params)"/>
<arg name="physical_params" value="$(arg physical_params)"/>
<arg name="visual_params" value="$(arg visual_params)"/>
<arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
</include>

<!-- Robot state publisher -->
Expand Down
2 changes: 2 additions & 0 deletions ur_gazebo/launch/ur30_bringup.launch
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Expand Up @@ -36,6 +36,7 @@
<arg name="kinematics_params" default="$(find ur_description)/config/ur30/default_kinematics.yaml"/>
<arg name="physical_params" default="$(find ur_description)/config/ur30/physical_parameters.yaml"/>
<arg name="visual_params" default="$(find ur_description)/config/ur30/visual_parameters.yaml"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>

<!-- Controller configuration -->
<arg name="controller_config_file" default="$(find ur_gazebo)/config/ur30_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
Expand All @@ -56,6 +57,7 @@
<arg name="kinematics_params" value="$(arg kinematics_params)"/>
<arg name="physical_params" value="$(arg physical_params)"/>
<arg name="visual_params" value="$(arg visual_params)"/>
<arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
</include>

<!-- Robot state publisher -->
Expand Down
2 changes: 2 additions & 0 deletions ur_gazebo/launch/ur3_bringup.launch
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Expand Up @@ -36,6 +36,7 @@
<arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
<arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
<arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>

<!-- Controller configuration -->
<arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
Expand All @@ -56,6 +57,7 @@
<arg name="kinematics_params" value="$(arg kinematics_params)"/>
<arg name="physical_params" value="$(arg physical_params)"/>
<arg name="visual_params" value="$(arg visual_params)"/>
<arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
</include>

<!-- Robot state publisher -->
Expand Down
2 changes: 2 additions & 0 deletions ur_gazebo/launch/ur3e_bringup.launch
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Expand Up @@ -36,6 +36,7 @@
<arg name="kinematics_params" default="$(find ur_description)/config/ur3e/default_kinematics.yaml"/>
<arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
<arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>

<!-- Controller configuration -->
<arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
Expand All @@ -56,6 +57,7 @@
<arg name="kinematics_params" value="$(arg kinematics_params)"/>
<arg name="physical_params" value="$(arg physical_params)"/>
<arg name="visual_params" value="$(arg visual_params)"/>
<arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
</include>

<!-- Robot state publisher -->
Expand Down
2 changes: 2 additions & 0 deletions ur_gazebo/launch/ur5_bringup.launch
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Expand Up @@ -36,6 +36,7 @@
<arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
<arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
<arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>

<!-- Controller configuration -->
<arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
Expand All @@ -56,6 +57,7 @@
<arg name="kinematics_params" value="$(arg kinematics_params)"/>
<arg name="physical_params" value="$(arg physical_params)"/>
<arg name="visual_params" value="$(arg visual_params)"/>
<arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
</include>

<!-- Robot state publisher -->
Expand Down
2 changes: 2 additions & 0 deletions ur_gazebo/launch/ur5e_bringup.launch
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Expand Up @@ -36,6 +36,7 @@
<arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/>
<arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
<arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>

<!-- Controller configuration -->
<arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
Expand All @@ -56,6 +57,7 @@
<arg name="kinematics_params" value="$(arg kinematics_params)"/>
<arg name="physical_params" value="$(arg physical_params)"/>
<arg name="visual_params" value="$(arg visual_params)"/>
<arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
</include>

<!-- Robot state publisher -->
Expand Down